Shifter Shifts to all gears, transmission only goes into drive, No neutral or reverse. Sometimes when you start it, it only goes into drive. Will not go into park. While your driving everything shifts good.
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Disconnect shift cable from transmission linkage and try to manually put transmission in drive gear ( make sure wheels chocked/park brake on ). If transmission goes into drive gear, suspect a shift cable or shifter assembly problem. If you can't manually shift into drive gear by hand with cable disconnected, suspect internal transmission/shift linkage issue
I would throw it on a scanner. Find out what's wrong. But with no scanner, the first thing I would do is check or replace the transmission range sensor/neutral safety switch. But, you most likely have a transmission swap or rebuild. Everything is electronics now days. You could have a bad solenoid, bad or shorted wire/s or a bad transmission.
The item that is electrically controlled and it turn controls the gear shifts is the TCM. transmission control module. They are prone to playing up and one of the reasons for that is moisture in the cable connections near the box. Have some one pull all the harness connections concerning the box apart and blowing them clean with air and ensure that they are dry and clean
There is usually a switch mounted on the transmission. Perhaps it has gotten loose or something is worn or broken. Your gear selection goes park, reverse, neutral and drive. Since the switch is not coming on from park to reverse but it kinda does if you go past reverse (neutral) then it sounds like the switch has moved from its original place. That's why I think it is loose. Good Luck!
The correct procedure should be described in detail in your owner/operation manual.
For a 2004, 90 % sure that if it's a quadra trac you have to immobilize the vehicule, put your transmission shifter to neutral keeping foot on the brake obviously, engage the low on transfer case pulling the transfer case shifter, engage the transmission to drive
If it's a select track, normally you have to keep the vehicule moving very slowly (2 mph), move the transmission shifter to neutral, push the transfer case shifter to the right and pull it firmly. Once transfer case engaged, put back the transmission shifter to drive.
It could take few seconds to engage and disengage depending on the temperature and road condition. Do not try it on dry surface (preferable on mud, snow and wet surface). Drive at low speed because you will feel that it's very low geared.
By the way, follow the reverse process to reestablish normal mode
Reverse lamp switch wiring or switch itself is defective. Mounted on trans. Run slector lever over reverse with someone watching. the back.If yhey flicker the switch is bad. Work it several times sometimes helps .
Though you did not say, I'm going to assume it's a stick shift. Shifter popping out of gear nearly always indicated an internal transmission problem (likely worn synchros) Either way, trans needs to be replaced or rebuilt. Transfer case is supposed to be filled with good grade auto transmission fluid, though some people opt for gear oil (but it gets really thick in cold weather). You may aslo have a t-case problem if you ran it low, but it is not related to shifter problem!